Epson G20 Series User Manual

Maintenance 8. Arm #4
168 G10 / G20 Rev.20
8.1 Replacing Joint #4 Motor
The shape and the replacement procedure of the Joint #4 AC servo motor for G10 series
and G20 series are different.
Name
Quantity
Note
Maintenance
parts
AC Servo Motor
150W G10
1
R13B000612
R13B000618
(For S/N: 1**** or later)
150W with brake G20
R13B000613
R13B000625
(For S/N: 1*** or later)
Tools
Hexagonal wrench
width across flats: 1.5 mm
G20
1
For M3 set screw
width across flats: 2 mm
1
For M4 set screw
width across flats: 2.5 mm
G20
1
For M3 screw
width across flats: 3 mm
1
For M4 screw
Nipper
1
For cutting wire tie
Force gauge
G10 1
Belt tension
160 N (16.3 kgf)
G20 1
Belt tension
200 N (20.3 kgf)
Scale G20 1
Ring mounting height
16.5 mm
Suitable cord (Length about 800 mm)
1
For belt tension
Material
Wire tie
1
8.1.1 Replacing the Joint #4 Motor: G10
A brake is mounted on the motor of Joints #3 and #4 to prevent the shaft from moving
down due to the weight of the end effector while the power to the Controller is OFF or
while the motor is in OFF status (MOTOR OFF).
Note that the brake will not work during the replacement procedure.
Move the shaft down to its lower limit before starting the replacement procedure by
following the removal steps.

Epson G20 Series Specifications

General

Brand	Epson
Model	G20 Series
Category	Robotics
Language	English